CN104842372B - Overload protection device for joint of humanoid robot - Google Patents
Overload protection device for joint of humanoid robot Download PDFInfo
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- CN104842372B CN104842372B CN201510239586.1A CN201510239586A CN104842372B CN 104842372 B CN104842372 B CN 104842372B CN 201510239586 A CN201510239586 A CN 201510239586A CN 104842372 B CN104842372 B CN 104842372B
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Abstract
The invention provides an overload protection device for a joint of a humanoid robot. When the robot falls down or collides with foreign objects, if the generated instantaneous torque is higher than the torque set by a torque limiter, the torque limiter can be separated from the joint, the phenomenon similar to the dislocation happens, and a precise speed reduction mechanism, a servo motor and other components of the robot are protected against damage; under the normal force transmission condition, the joint has high rigidity, and accuracy of motions is guaranteed.
Description
Technical field
The present invention is to be related to a kind of robot joints overload protection arrangement, belongs to robotics.
Background technology
At present, machine man-based development is advanced by leaps and bounds, and especially service machine man-based development is increasingly paid attention to, and how to carry
Emphasis and difficult point that the adaptive capacity to environment of high robot and secure interactive are always studied both at home and abroad.
The joint of robot is made up of precision mechanisms such as servomotor, decelerators, the precision of anthropomorphic robot application
Reducing gear is mainly harmonic speed reducer, and the harmonic drive of harmonic speed reducer mainly uses the controllable elastic deformation of flexible member
To transmit motion and power, its volume is little, and precision is very high, but as harmonic wave accelerator is flexible member, flexbile gear
Service life is limited, and the cost of not impact resistance and harmonic speed reducer is high, and rigidity is again poor compared with metalwork.From number
According to analysis, the maximum instantaneous moment of torsion that the harmonic speed reducer that robot manipulation joint is installed can bear is only hundreds of newton
Rice, and instantaneous impact of robot when falling down can reach thousands of newton, if lacking necessary protection mechanism, then harmonic wave
Decelerator has very big probability be destroyed.
Because the environment that robot is faced is varied, which is due to accidental falls or impacted, collided and inevitable,
And the joint of robot especially needs to strengthen protection, therefore, how to realize that the overload protection of joint of robot becomes particularly important.
Existing joint overload protection mode existing defects.
Chinese patent CN203269387U provides a kind of limiter of moment with reset function, belongs to electrical control power
One kind of square, and be applied on lorry-mounted crane, if general electrical control feedback is slow, response lag, when joint is hit
Easily protect not in time, cause the damage of joint component；
Chinese patent CN201410027763.5 has invented a kind of mainly by friction plate come the surge protection of restraining moment
Device, but when joint is transshipped, friction plate steep temperature rise so that wear extent increases, wearability is reduced, and noise when rubbing
Greatly, lost material easily gets rusty；
Chinese patent CN201420492098.2 provides a kind of step-by-step movement reseting torque limiter, by conventional friction
Increase auto-reset function on the basis of formula limiter of moment, and using the butterfly spring of series connection, changed by adjustment end bolt
Become pre-fastening moment size.Because the link position of butterfly spring is at edge, belong to linear contact lay, after loading, may be distributed not because of power
Or by Action of Gravity Field, cause elastic disc wrong position, it is perfectly aligned more difficult.
General limiter of moment is applied in heavy mechanism mostly, and complex structure, size are big；Some are applied to joint guarantor
The precision limiter of moment of shield, driving medium are arranged using cylindrical roller circumference array, and roller stress is not orthogonal to side,
So that roller is difficult circumferential rolling, or circumferential roll angle is little, and causes output end range of movement to be limited, and roller is easy to wear.
The content of the invention
It is an object of the invention to provide a kind of simple structure, light, torque is adjustable, reducible limiter of moment, can be from
Security performance of the robot under dangerous situation is improved by the torque size for adjusting limiter.
The present invention is adopted the technical scheme that：
A kind of moment limiting device, including：
Input disc, is the disk with through hole, being capable of input torque；
Output panel, is the disk with groove corresponding with the through hole, being capable of output torque；
Taper roller, which is located between input and output end, is embedded in the through hole of the input and the output end
In groove, the torque of input can be conducted, also being capable of restraining moment；
The torque of input is converted into elastic force by elastic device, and two ends are compressed by a piece of positioning baffle respectively；
Restraining moment adjusting means, output torque is controlled in the safe range of pre- protection, and one end adjustable ground is located at
One end of a piece of positioning baffle；Other end adjustable ground is located at spider one end of limiter of moment；
When the normal stress of output panel, the taper roller can stably conduct torque；
When output panel is impacted, the taper roller can be rolled out from inside the groove of the output panel, and input disc is just
It is no longer influenced by the impact moment of output panel.
Preferably, the taper roller of transitioning end has a circle, has 6 rollers；
Preferably, output panel has reset hole, and input disc has reset pin；
Preferably, cylindrical roller is transfused to disk and output panel is compressed, and pretightning force is screwed by screw, produces one to output panel
Pressure, this pressure are delivered to input disc by taper roller, then pass to spring stop so that spring is compressed, and produce one
Individual elastic force；
Preferably, screw and jam nut are adjustable, by adjusting screw or jam nut, change pre-pressing force；
Preferably, transitioning end is by gap, because taper roller is transfused to end output end compacting, between there is no space, make
Must invert without backlash；
Preferably, there is the gradient end face outward flange that right side spring stop is contacted with taper roller, its gradient size and circular cone
The taper size of roller is the same；
Preferably, jam nut, screw are standard component, are easy to changing long afterwards；
Joint of robot, the moment limiting device being connected including motor, decelerator and with decelerator.
Preferably, the decelerator is harmonic speed reducer.
By using above technical scheme, the present invention can obtain following technique effect：When robot is fallen down or and foreign object
When colliding, if the instantaneous torque for producing exceedes the torque size of limiter of moment setting, limiter of moment will be with joint
Disengage, be not damaged by similar to parts such as the phenomenon of " dislocation ", protection robot accurate retarding machine structure, servomotors.And just
In the case of constance force transmission, joint has high rigidity, it is ensured that the accuracy of action.
Description of the drawings
Fig. 1 is the structure sectional view of the robot joints overload protection arrangement of the present invention
Fig. 2 is transitioning end taper roller arrangement of the present invention
The a certain cross section input disc of Fig. 3 present invention and output panel are for the connected mode of taper roller
In figure, the implication of each reference is as follows：
1- spiders；The super jam nuts of 2-；3- left end spring stops；4- column springs；5- right-hand members spring stop/taper roller
Pressing plate；6- tablets；7- taper rollers；8- output boards；9- reset pins；10- bearings；11- screw pressing plates；12- expansion screws；
13- cylindrical rollers.
Specific embodiment
The invention will be further described below in conjunction with the accompanying drawings.
Referring to Fig. 1, a kind of robot joints overload protection arrangement, including spider 1, is screwed in the lock of super jam nut 2
Together, baffle plate 3, spring 4, spring right-hand apron on the left of spring
5 constitute elastic device, are extruded by the super jam nut 2 in two ends and 6 taper rollers 7 of circle, the arrangement of taper roller
As Fig. 2, spider 1 transmit torque by 4 cylindrical rollers 13 of circle to input disc 6, input disc 6 has 6 trapezoidal spacing holes of a circle,
And a reset pin hole, input disc 6 by one circle 6 cylindrical rollers 7 pass torque to output panel 8, output panel 8 has a circle
6 trapezoidal grooves, and a reset cotter slot, the gradient design formula of trapezoidal groove (such as Fig. 3) is(wherein β is
Gradient, Fs is pre-pressing force, component along taper roller radial direction of the F for load force), the two sides of trapezoidal groove and taper roller
Tangent (such as Fig. 2), the taper design formula of taper roller is(α is taper, and b is going to the bottom for input disc trapezoidal hole, l
It is that trapezoidal hole is gone to the bottom the distance of distance center), connect by bearing 10 between output panel 8 and spider 1, screw pressing plate 11 blocks axle
10 inner ring is held, expansion screw 12 is tightened through screw pressing plate 11, and by tightening degree, adjust the size of restraining moment.
In the case of normal forces transmission, spring is compressed so that taper roller 7 is pressed in the trapezoidal groove of output panel 8, electricity
Machine drives spider 1 to rotate, and spider passes torque to input disc 6 by cylindrical roller 13, and input disc 6 passes through taper roller
7 pass torque to output panel 8.When joint is transshipped, output panel 8 can be subject to king-sized loading moment, power to pass to circular cone
Roller 7, when this torque taper roller 7 holds be can't stand, can roll out from the trapezoidal slot rolling of output panel 8, and spring is further pressed
Contracting, now, input disc 6 and output panel 8 are disengaged, and input disc 6 by the transmission torque from output panel 8, does not protect servomotor
Harmonic.And after taper roller 7 is rolled out from output panel 8, can be embedded in input disc 6, as input disc 6 does circular-rotation, now,
Reset pin 9 is also deviate from from reset hole, only after disc spins complete cycle is exported, can just make reset pin 9 reenter reset
Hole, or hand-reset.
Claims (7)
1. a kind of moment limiting device, including：
Input disc, is the disk with trapezoidal hole, being capable of input torque；
Spider, is driven by motor and is rotated, can pass torque to the input disc；
Output panel, is the disk with trapezoidal groove corresponding with the through hole, being capable of output torque；The ladder of the trapezoidal groove
Spending design formula isWherein β is gradient, and Fs is pre-pressing force, and F is the dividing along taper roller radial direction of load force
Power；
Taper roller, which is located between input disc and output panel, is embedded in the trapezoidal hole and the output panel of the input disc
In trapezoidal groove, the torque of input can be conducted, also being capable of restraining moment；The taper design formula of the taper roller isWherein α is taper, and b is going to the bottom for input disc trapezoidal hole, and l is that trapezoidal hole is gone to the bottom distance input disk center
Distance；
The torque of input is converted into elastic force by elastic device, and two ends are compressed by a piece of positioning baffle respectively；
Restraining moment adjusting means, output torque is controlled in the safe range of pre- protection, and one end adjustable ground is located at a piece of
One end of positioning baffle；Other end adjustable ground is located at spider one end of moment limiting device；
When the normal stress of output panel, the taper roller can stably conduct torque；
When output panel is impacted, the taper roller can be rolled out from inside the groove of the output panel, and input disc is just no longer
By the impact moment of output panel；
The restraining moment adjusting means includes screw and super jam nut；The positioning baffle of one end can be locked by the super jam nut
Tightly；The taper roller is compressed by the input disc and the output panel, and pretightning force is screwed by the screw, and output panel is produced
One pressure, this pressure is delivered to input disc by taper roller, then passes to positioning baffle so that elastic device is pressed
Contracting, produces elastic force；
By adjusting the screw and/or the super jam nut, the pretightning force can be changed.
2. moment limiting device according to claim 1, it is characterised in that circle of the taper roller along the input disc
Circumferential direction is uniformly distributed.
3. moment limiting device according to claim 1, it is characterised in that the output panel is provided with reset hole, described
Input disc is provided with reset pin.
4. moment limiting device according to claim 1, it is characterised in that the taper roller is by the input disc and institute
State output panel compacting, between there is no space so that reversion without backlash.
5. moment limiting device according to claim 1, it is characterised in that the end of the positioning baffle contacted with taper roller
There is the gradient face outward flange, and its gradient size is as the taper size of taper roller.
6. a kind of joint of robot, be connected including motor, decelerator and with decelerator according to any one of claim 1-5
Described moment limiting device.
7. joint of robot according to claim 6, it is characterised in that the decelerator is harmonic speed reducer.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510239586.1A CN104842372B (en) | 2015-05-12 | 2015-05-12 | Overload protection device for joint of humanoid robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510239586.1A CN104842372B (en) | 2015-05-12 | 2015-05-12 | Overload protection device for joint of humanoid robot |
Publications (2)
| Publication Number | Publication Date |
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| CN104842372A CN104842372A (en) | 2015-08-19 |
| CN104842372B true CN104842372B (en) | 2017-03-22 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201510239586.1A Active CN104842372B (en) | 2015-05-12 | 2015-05-12 | Overload protection device for joint of humanoid robot |
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Families Citing this family (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105216006B (en) * | 2015-11-05 | 2018-08-31 | 上海戴屹科技有限公司 | Robot flexible flange and robot |
| EP3538325B1 (en) * | 2016-11-14 | 2023-10-25 | KUKA Deutschland GmbH | Robot arm, mobile robot and logistics system |
| CN106695869B (en) * | 2016-12-21 | 2023-04-25 | 国网安徽省电力公司淮南供电公司 | Bionic dislocation robot joint |
| DE102017110248A1 (en) * | 2017-05-11 | 2018-11-15 | Hettich Franke Gmbh & Co. Kg | Swivel fitting and furniture |
| CN110101551B (en) * | 2019-04-26 | 2022-02-25 | 广东博智林机器人有限公司 | Slipping component |
| CN109998860B (en) * | 2019-04-26 | 2021-10-08 | 广东博智林机器人有限公司 | Lower limb exoskeleton robot with overload slipping function |
| CN110561501B (en) * | 2019-08-30 | 2020-10-23 | 南京斯杩克机器人技术有限公司 | Load overload protection mechanism that intelligence transfer robot used |
| CN112621817A (en) * | 2020-12-18 | 2021-04-09 | 北方工业大学 | Moment limiter with bidirectional rotation overload protection |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB1548751A (en) * | 1976-03-17 | 1979-07-18 | Brown Sadi Sa David | Torque-limiting devices |
| DE3721292A1 (en) * | 1987-06-27 | 1989-01-26 | Siteg Siebtech Gmbh | SAFETY COUPLING |
| CN201177020Y (en) * | 2008-03-27 | 2009-01-07 | 锦州万得包装机械有限公司 | Safety clutch |
| CN203604478U (en) * | 2013-11-29 | 2014-05-21 | 无锡麦克马丁定扭矩装配工具有限公司 | Torque cut-off restoration structure |
| CN104476569B (en) * | 2014-12-30 | 2016-05-11 | 浙江钱江摩托股份有限公司 | A kind of load overload protecting mechanism of robot |
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2015
- 2015-05-12 CN CN201510239586.1A patent/CN104842372B/en active Active
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Inventor after: Ming Aiguo Inventor after: Zhang Weimin Inventor after: Guo Xinran Inventor after: Huang Qiang Inventor after: Liu Huaxin Inventor after: Chen Xuechao Inventor after: Yu Zhangguo Inventor after: Li Hui Inventor before: Zhang Weimin Inventor before: Huang Qiang Inventor before: Guo Xinran Inventor before: Liu Huaxin Inventor before: Chen Xuechao Inventor before: Yu Zhangguo Inventor before: Li Hui |
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